6-D magnetic localization and orientation method for an annular magnet based on a closed-form analytical model

IEEE Transactions on Magnetics

Volumn 50, Issue 9, 2014, Pages

  Song, Shuang ^a   Li, Baopu ^b,c   Qiao, Wan ^c   Hu, Chao ^d   Ren, Hongliang ^a   Yu, Haoyong ^a   Zhang, Qi ^c   Meng, Max Q H ^e   Xu, Guoqing ^c  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^b SHENZHEN UNIVERSITY   (China)

^c SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY   (China)

^d ZHEJIANG UNIVERSITY   (China)

^e CHINESE UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

6 D magnetic localization and orientation; annular magnet; computer assisted interventions; particle swarm optimization (PSO); tracking

Indexed keywords

SURFACE DISCHARGES;

ANNULAR MAGNETS; CLOSED FORM; COMPUTER ASSISTED; MAGNETIC LOCALIZATION;

PARTICLE SWARM OPTIMIZATION (PSO);

EID: 84907191892     PISSN: 00189464     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMAG.2014.2315592     Document Type: Article

References (40)

1. H. Ren et al., "Computer assisted transoral surgery with flexible robotics and navigation technologies: A review of recent progress and research challenges," Critical Rev. Biomed. Eng., vol. 41, nos. 4-5, pp. 365-391, 2013.
2. S. Vincent, D. Predrag, R. S. Popovic, and K. Pavel, "A magnetic tracking system based on highly sensitive integrated Hall sensors," JSME Int. J. Ser. C, Mech. Syst., Mach. Elements Manuf., vol. 45, no. 4, pp. 967-973, 2002.
3. C. Hu, M. Li, S. Song, R. Zhang, M.-H. Meng, and W. Yang, "A cubic 3-axis magnetic sensor array for wirelessly tracking magnet position and orientation," IEEE Sensors J., vol. 10, no. 5, pp. 903-913, May 2010.
4. W. Weitschies, M. Karaus, D. Cordini, L. Trahms, J. Breitkreutz, and W. Semmler, "Magnetic marker monitoring of disintegrating capsules," Eur. J. Pharmaceutical Sci., vol. 13, no. 4, pp. 411-416, 2001.
5. H. Ren, W. Lim, and W. Guo, "Coverage planning in computer-assisted ablation based on genetic optimization," Comput. Biol. Med., vol. 49C, pp. 36-45, Mar. 2014.
6. H. Ren and X. Kang, "Surgical navigation and planning with minimum radiation in orthopaedic interventions," in Proc. 13th Annu. Meeting Int. Society CAOS, Orlando, FL, USA, Jun. 2013.
7. H. Ren, W. Liu, and S. Song, "Towards occlusion-resistant surgical instrument tracking," Bone Joint J. Orthopaedic Proc. Suppl., vol. 95-B, no. 28, p. 52, 2013.
8. H. Ren, E. Campos-Nanez, Z. Yaniv, F. Banovac, N. Hata, and K. Cleary, "Treatment planning and image guidance for radiofrequency ablations of large tumors," IEEE J. Biomed. Health Inform., vol. 18, no. 3, pp. 920-928, 2014.
9. H. Ren, W. Liu, and A. Lim, "Marker-based instrument tracking using dual kinect sensors for navigated surgery," IEEE Trans. Autom. Sci. Eng., vol. 11, no. 3, pp. 921-924, 2014.
10. A. Hamed et al., "Advances in haptics, tactile sensing, and manipulation for robot-assisted minimally invasive surgery, noninvasive surgery, and diagnosis," J. Robot., vol. 2012, p. 4128161-41281614, Jan. 2012.
11. H. Ren and P. Kazanzides, "Investigation of attitude tracking using an integrated inertial and magnetic navigation system for hand-held surgical instruments," IEEE/ASME Trans. Mechatronics, vol. 17, no. 2, pp. 210-217, Apr. 2012.
12. H. Ren, R. Denis, M. Martin, S. Jan, and P. Kazanzides, "Multisensor data fusion in an integrated tracking system for endoscopic surgery," IEEE/ASME Trans. Inform. Technol. Biomed., vol. 16, no. 1, pp. 106-111, Jan. 2012.
13. J. Stoll, H. Ren, and P. E. Dupont, "Passive markers for tracking surgical instruments in real-time 3-D ultrasound imaging," IEEE Trans. Med. Imag., vol. 31, no. 3, pp. 563-575, Mar. 2012.
14. H. Ren and P. Kazanzides, "A paired-orientation alignment problem in a hybrid tracking system for computer assisted surgery," J. Intell. Robot. Syst., vol. 63, no. 2, pp. 151-161, 2011.
15. H. Ren and M. Q.-H. Meng, "Game-theoretic modeling of joint topology control and power scheduling for wireless heterogeneous sensor networks," IEEE Trans. Autom. Sci. Eng., vol. 6, no. 4, pp. 610-625, Oct. 2009.
16. H. Ren and M. Q.-H. Meng, "Power adaptive localization algorithm for wireless sensor networks using particle filter," IEEE Trans. Veh. Technol., vol. 58, no. 5, pp. 2498-2508, Jun. 2009.
17. M.-H. Meng, T. Mei, J. Pu, C. Hu, X. Wang, and Y. Chan, "Wireless robotic capsule endoscopy: State-of-the-art and challenges," in Proc. 5th WCICA, vol. 6. Jun. 2004, pp. 5561-5565.
18. C. Hu, M. Q.-H. Meng, and M. Mandal, "The calibration of 3-axis magnetic sensor array system for tracking wireless capsule endoscope," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Oct. 2006, pp. 162-167.
19. F. Carpi and C. Pappone, "Magnetic maneuvering of endoscopic capsules by means of a robotic navigation system," IEEE Trans. Biomed. Eng., vol. 56, no. 5, pp. 1482-1490, May 2009.
20. E. Paperno, I. Sasada, and E. Leonovich, "A new method for magnetic position and orientation tracking," IEEE Trans. Magn., vol. 37, no. 4, pp. 1938-1940, Jul. 2001.
21. A. Plotkin, E. Paperno, G. Vasserman, and R. Segev, "Magnetic tracking of eye motion in small, fast-moving animals," IEEE Trans. Magn., vol. 44, no. 11, pp. 4492-4495, Nov. 2008.
22. C. Hu, S. Song, X. Wang, M.-H. Meng, and B. Li, "A novel positioning and orientation system based on three-axis magnetic coils," IEEE Trans. Magn., vol. 48, no. 7, pp. 2211-2219, Jul. 2012.
23. S. Song, C. Hu, B. Li, X. Li, and M.-H. Meng, "An electromagnetic localization and orientation method based on rotating magnetic dipole," IEEE Trans. Magn., vol. 49, no. 3, pp. 1274-1277, Mar. 2013.
24. S. Song, W. Qiao, B. Li, C. Hu, H. Ren, and M.-H. Meng, "An efficient magnetic tracking method using uniaxial sensing coil," IEEE Trans. Magn., vol. 50, no. 1, pp. 1-7, Jan. 2014.
25. C. Hu, M.-H. Meng, S. Song, H. Dai, and W. Yang, "A six-dimensional magnetic localization algorithm for a rectangular magnet objective based on a particle swarm optimizer," IEEE Trans. Magn., vol. 45, no. 8, pp. 3092-3099, Aug. 2009.
26. S. Song, C. Hu, M. Li, W. Yang, and M.-H. Meng, "Real time algorithm for magnet's localization in capsule endoscope," in Proc. IEEE ICAL, Aug. 2009, pp. 2030-2035.
27. X. Wu, W. Hou, C. Peng, X. Zheng, X. Fang, and J. He, "Wearable magnetic locating and tracking system for MEMS medical capsule," Sens. Actuators A, Phys., vol. 141, no. 2, pp. 432-439, 2008.
28. W. Yang, Y. Li, C. Hu, and S. Song, "A real-time tracking method for the rectangular magnet based on parallel Levenberg-Marquardt algorithm," Int. J. Appl. Electromagn. Mech., vol. 37, no. 4, pp. 241-251, 2011.
29. S. Song, C. Hu, M. Li, W. Yang, and M.-H. Meng, "Two-magnet-based 6D-localization and orientation for wireless capsule endoscope," in Proc. IEEE Int. Conf. Robotics and Biomimetics, Dec. 2009, pp. 2338-2343.
30. X. Chen, S. Tamura, D. Lin, and Y. Du, "A 3D localization and navigation method for endoscope by magnetic field," J. Comput. Res. Develop., vol. 39, no. 2, pp. 325-329, 2002.
31. M. Sendoh, K. Ishiyama, and K.-I. Arai, "Fabrication of magnetic actuator for use in a capsule endoscope," IEEE Trans. Magn., vol. 39, no. 5, pp. 3232-3234, Sep. 2003.
32. X. Guo, G. Yan, W. He, and P. Jiang, "Improved modeling of electromagnetic localization for implantable wireless capsules," J. Inform., vol. 44, no. 4, pp. 354-359, 2010.
33. H. Ren and P. Kazanzides, "Hybrid attitude estimation for laparoscopic surgical tools: A preliminary study," in Proc. Annu. Int. Conf. IEEE Engineering Medicine and Biology Society, Sep. 2009, pp. 5583-5586.
34. K. Enpuku, D. Kuroda, T. Yang, and K. Yoshinaga, "High Tc SQUID system and magnetic marker for biological immunoassays," IEEE Trans. Appl. Supercond., vol. 13, no. 2, pp. 371-376, Jun. 2003.
35. V. Schlageter, P.-A. Besse, R. Popovic, and P. Kucera, "Tracking system with five degrees of freedom using a 2D-array of Hall sensors and a permanent magnet," Sens. Actuators A, Phys., vol. 92, no. 1, pp. 37-42, 2001.
36. M. Birsan, "Recursive Bayesian method for magnetic dipole tracking with a tensor gradiometer," IEEE Trans. Magn., vol. 47, no. 2, pp. 409-415, Feb. 2011.
37. W.-S. Yao, M.-C. Tsai, J.-Z. Lai, and F.-Y. Yang, "Detection of magnetic object movements by flux density tracking control," IEEE/ASME Trans. Mechatronics, vol. 17, no. 4, pp. 709-716, Aug. 2012.
38. M. Katie, W. Arthur, and J. Jake, "Localization method for a magnetic capsule endoscope propelled by a rotating magnetic dipole field," in Proc. IEEE ICRA, May 2013, pp. 5328-5333.
39. C. Di Natali, M. Beccani, and P. Valdastri, "Real-time pose detection for magnetic medical devices," IEEE Trans. Magn., vol. 49, no. 7, pp. 3524-3527, Jul. 2013.
40. R. Eberhart and J. Kennedy, "A new optimizer using particle swarm theory," in Proc. 6th Int. Symp. MHS, Oct. 1995, pp. 39-43.